Control system of multi-joint arm robot apparatus

ABSTRACT

A multi-joint arm robot apparatus comprises a multi-joint arm having a plurality of unit arms coupled in tandem with each other through joints, and a movable support for supporting the proximal portion of the multi-joint arm. The multi-joint arm robot apparatus has motors for controlling joint angles of the joints and a motor for moving the movable support. These motors are driven by a control system. The control system controls the motors to obtain proper joint angles, in such a way that the joints of the multi-joint arm are put into a given path when the movable support is moved a given unit distance.

This is a divisional application of Ser. No. 07/667,487, filed Mar. 11,1991, now U.S. Pat. No. 5,165,841, which is a continuation applicationof Ser. No. 07/382,030, filed Jul. 19, 1989, now U.S. Pat. No.5,049,028, which is a continuation application of Ser. No. 07/032,282,filed Mar. 31, 1987, now abandoned, which is a divisional application ofSer. No. 06/545,275, filed Oct. 25, 1983, now abandoned.

BACKGROUND OF THE INVENTION

The present invention relates to a multi-joint arm control system foreffectively guiding a multi-joint arm robot apparatus toward a target ina narrow space to which an operator cannot gain access.

Facilities such as tower tank, nuclear reactor, fusion reactor andshielding cell in a nuclear fuel reprocessing plant have neitherentrance nor space large enough to allow technical personnel to enter orwork in and contain harmful radioactive rays and the like. Therefore, itis usually impossible for personnel to enter directly inside thesefacilities to check them or work in them. With these facilities, it isnecessary that the working person be located at a safe site and remotelyoperate an industrial robot arranged in these facilities or be allowedinto them through a small entrance to check or work in them.

It is preferable that such a robot is of the multi-joint arm type whichincludes a plurality of unit arms coupled through joints in order tofacilitate the avoidance of contact with various obstacles.

A multi-joint arm which is simple in construction and easy in control isdisclosed in U.S. patent application Ser. No. 418,208, filed on Sep. 15,1982. In this multi-joint arm, the angle formed by two adjacent armsconnected by a joint is controlled by a motor, so that a relativelycomplex posture can be achieved. For this reason, this multi-joint armhas a suitable construction for avoiding obstacles, while being guidedtoward a target.

SUMMARY OF THE INVENTION

An object of the present invention is to provide a control system for amulti-joint arm robot apparatus which can easily and effectively guide amulti-joint arm to a target spot in a narrow space.

The multi-joint arm robot apparatus to which the control system of thepresent invention is applied comprises: a multi-joint arm having aplurality of unit arms coupled in tandem with each other through joints,and a movable support for supporting a proximal portion of themulti-joint arm and for moving the multi-joint arm as a whole. Themulti-joint arm has motors for rotating the joints and encoders fordetecting rotation angles of the joints to control joint angles of thejoints. The movable support has a motor for moving the movable supportand an encoder for detecting a rotating angle of the motor to control adisplacement or travel distance of the support. The motors are driven bythe control system.

According to a first embodiment of the present invention, the directionin which the leading end of the multi-joint arm is to move, and thedistance to a target point in the direction are measured. In accordancewith the measurement results the control system calculates an equationrepresenting a path or track along which the multi-joint arm is to move,and such a joint angle of each of the joints that the joints are putinto the path when the movable support is moved by a unit distance (feedpitch). Therefore, the control system drives the motors to move themovable support by the unit distance and set each joint angle to acalculated value.

According to a second embodiment of the present invention, a path of themulti-joint arm is determined in advance and the coordinates of aplurality of points on the path are found. The control system calculatesan equation for representing the path of the multi-joint arm inaccordance with the coordinates of these points. At the same time, thecontrol system calculates such a joint angle of each of the joints thatthe joints are put into the path when the movable support moves by theunit distance. The motors of the multi-joint arm and the movable supportare driven in the same manner as in the first embodiment.

According to a third embodiment of the present invention, the distancebetween the leading end of the multi-joint arm and a forward obstacle,and distances between the multi-joint arm and side obstacles aremeasured. The control system causes the multi-joint arm to move in aadvancable direction for each step, in accordance with the distanceinformation. When the joint is moved by one step, each joint iscontrolled to have the joint angle that the predecessor joint has had.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows the overall configuration of a multi-joint arm robotaccording to the present invention;

FIG. 2 shows an internal mechanism of a multi-joint arm;

FIGS. 3 and 4 show contact sensors arranged in each unit arm of themulti-joint arm;

FIG. 5 is a block diagram showing a control system for controlling themulti-joint arm robot;

FIG. 6 is a representation for use in explaining the operation of thecontrol system for guiding the multi-joint arm shown in FIG. 1;

FIG. 7 is a flow chart for use in explaining the guide control operationof the control system;

FIGS. 8A and 8B are representations for use in explaining the movementof the multi-joint arm in avoiding an obstacle;

FIG. 9 is a representation for use in explaining a guide control systemof a multi-joint arm robot according to another embodiment of thepresent invention;

FIG. 10 is a flow chart for use in explaining the guide control systemshown in FIG. 9;

FIG. 11 is a representation for use in explaining the guide controlsystem according to still another embodiment of the present invention;

FIG. 12 shows a multi-joint arm robot operated by a guide control systemaccording to still another embodiment of the present invention;

FIG. 13 shows a control system of the multi-joint arm robot shown inFIG. 12;

FIG. 14 shows a side obstacle profile measured by the multi-joint armrobot shown in FIG. 12;

FIG. 15 is a block diagram of the range finder shown in FIG. 13;

FIG. 16 is a representation for use in explaining the guide controloperation of the multi-joint arm robot shown in FIG. 12; and

FIG. 17 is a flow chart for use in explaining the guide controloperation of the multi-joint arm robot shown in FIG. 12.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 1 shows the overall configuration of a multi-joint arm robotapparatus embodying the present invention. A multi-joint arm 11comprises a plurality of unit arms 12₁ to 12_(n), and joints 13₁ to13_(n) for coupling the unit arms 12₁ to 12_(n) with each other intandem. A TV camera 14 and a range finder 15 are attached at the forwardend of leading unit arm 12₁. The TV camera 14 is adapted for inspection,and measurement of the direction of a target. The range finder 15measures the distance up to the target on the optical axis of the cameralens. The TV camera 14 is mounted such that the direction of the opticalaxis of the lens is freely changed by means of the joint 13₁.

The unit arm 12_(n) of the multi-joint arm 11 is fixed on a support 16,which is movable by means of a motor, along a gear rail 17.

A control system 18 for controlling the operation of the multi-joint arm11 mainly comprises a computer, in combination with an input/outputdevice 19; a joystick 20 adapted for detection of coordinates of atarget; a display 21; and a TV monitor 22 for reproducing an imagepicked up by the TV camera 14.

Each of the joints 13₁ to 13_(n) has a driving mechanism (to bedescribed later). The driving mechanisms of these joints are controlledby the control system, to change a respective joint angle θ. In otherwords, a given unit arm can change its position with respect to theadjacent unit arm in the three-dimensional space. The multi-joint arm 11moves along a desired path within a tank 30, when the movable support 16and the joints 13₁ to 13_(n) are driven by the control system 18.

FIG. 2 shows an example of a configuration of the multi-joint arm 11disclosed in the patent application mentioned above. A plurality of arms43, 44, 45 are connected by joint sections 74a, 74b, each joint sectionbeing arranged at one end of each of the arms. A support member 43a ofthe arm 43 consisting of an elongated support plate 46a, 47a and asupport disc 48a is arranged on a base 40. A guide member 50a having aspecific form like a symmetrically-divided spur wheel is rotatablyattached by pins 72a to the foremost end of the elongated support plates46a and 47a. In the case of the arm 44, a support member 44a includestwo support discs 48b and 49b and two elongated support plates 46b and47b fixed to the support discs 48b and 48b at the center thereof. Aguide member 51b having a form like a symmetrically-divided spur wheelis rotatably attached to the back ends of the elongated support plates46b and 47b by pins 73b. A guide member 51c is rotatably attached bypins 72b to the front ends of the elongated support plates 46b and 47bby pins. Arm 45 has the same construction as arm 44, though arm 44revolves 90 degrees around the longitudinal axis thereof. Specifically,elongated support plates 46b and 47b are arranged opposite to each otherin the vertical direction in the arm 44, while elongated support plates46c and 47c are arranged opposite to each other in the horizontaldirection in the arm 45. The elongated support plates 46c, 47c ofsupport member 45a are fixed to two support discs (only support disc 49cis shown in FIG. 2), and a guide member 51c is freely and rotatablyattached to the back ends of the elongated support plates 46c, 47c bypins 73c. The guide members 50a and 51b or guide members 50b and 51c ineach of the joint sections are fixed in such a way that their rotationaxes cross each other. Therefore, the arms 43 and 44 or arms 44 and 45can move relative to each other in each of the joint sections, takingthe axes X1-X2 and Y1-Y2 as their rotational axes.

A driving means for driving the guide member 51b, which consists of amotor 52a, a reduction gear 53a, a joint 54a, a worm 55a, a worm wheel56a and a spur wheel 57a, is so arranged on the support member 43awithin the arm 43 as to transmit the rotation of the motor 52a to theguide member 51b. Similarly, a driving means for driving the guidemember 50a and consisting of a motor 58b, a reduction gear 59b, a joint(not shown), a worm 60b, a worm wheel 61b and a spur wheel 62b, andanother driving means for driving the guide member 51c and consisting ofa motor 52b, a reduction gear 53b, a joint 54b, a worm 55b, a worm wheel56b and a spur wheel 57b are arranged on the support member 44a in thearm 44. A driving means for driving the guide member 50 b and consistingof a motor 58c, a reduction gear 59c, a joint (not shown), a worm 60c, aworm wheel 61c and a spur wheel 62c, is also arranged on the supportmember 45a within the arm 45. Due to the rotation of motors 52a and 58b,arm 44 can move in any direction, with respect to the arm 43 fixed tothe support 16 of FIG. 1. Due to the rotation of motors 52b and 58c, arm45 can also move in any direction, with respect to arm 44. The rotatingangle (or rotating position) of the arm in each of the joint sectionscan be detected by potentiometers 63. In each of the joint sectionsthere is arranged a limit switch to stop the rotation of motors when therelative rotating angle between the arms reaches a limit value (ormaximum rocking angle). This limit switch has a sensor 64 attached tothe underside of the elongated support plate 46b, for example, with itsdetecting direction directed vertically downward; and a fan-likeindication plate 65 horizontally attached to the side of said guidemember 50b or 51b.

When the multi-joint arm 11 moves within a narrow space, a part of themulti-joint arm 11 may be brought into contact with an obstacle. If thisoccurs, the multi-joint arm 11 must be separated from the obstacle andmust be moved along a safe path. For this purpose, a plurality ofcontact sensors are provided within each unit arm of the multi-joint arm11, to detect which unit arm has come into contact with the obstacle andfrom what direction the obstacle is in contact with the detected unitarm.

The contact sensor will now be described with reference to FIGS. 3 and4. Reference numeral 81 denotes rings fixed at both ends of, forexample, the support plate 46b or 47b of FIG. 2. Sensors 80 are arrangedat the end of each fixed ring 81, at equal angular intervals of 90° asshown in FIG. 4. Floating rings 84 fixed to an arm cover 83 aresupported by the fixed rings 81 through spring wires 82 so as to opposethe sensors 80, respectively.

With such a construction as described above, in the normal state, thearm cover 83 and the floating rings 84 are maintained by the springwires 82 in an equilibrium state with respect to the fixing rings 81. Inother words, the sensors 80 are kept OFF. When a part of the unit armcover 83 is brought into contact with an obstacle, a sensor in thevicinity of the contact portion is driven by a corresponding one of thefloating ring to generate a contact signal. The contact signal issupplied to the control system.

FIG. 5 shows a schematic configuration of the control system 18. In thefigure, the like reference numerals are used to denote the like parts inFIG. 1. The system included motors 91₁ to 91_(n) for driving the joints13₁ to 13_(n), encoders (potentiometers of FIG. 2) 92₁ to 92_(n) fordetecting the rotating angle of the joints, and contact sensors 93₁ to93_(n) which are disposed within the multi-joint arm 11. A motor 94 fordriving the support 16 and an encoder 95 for detecting the displacementof the support 16 (rotating angle of the motor 94) are disposed withinthe support 16. Motors 91₁ to 91_(n) and 94 are driven by a motor drivecircuit 97 in response to instruction data from a CPU 96.

Encoders 92₁ to 92_(n) and 95, the contact sensors 93₁ to 93_(n) and therange finder 15 are coupled to the CPU 96. The image picked up by the TVcamera 14 is reproduced by the TV monitor 22. A coordinate measurementdevice 98 is coupled to the TV monitor 22 so as to measure coordinatesof the target spot on the screen of TV monitor 22. The measuredcoordinate data of the target spot is applied to the CPU 96. Thecoordinate measurement device 98 is arranged to produce a cross-shapedcursor on the screen of the TV monitor 22, which may be moved by thejoystick 20 to any position, and to measure the coordinates of thecursor on the screen.

The control system of the multi-joint arm robot having the TV camera andthe range finder will now be described with reference to FIGS. 6 and 7.FIG. 6 shows a heat exchanger of nuclear equipment which has pipes 31therein. Assume that a portion Q which cannot be directly observed froman inlet port 32 behind the pipes 31 is to be inspected.

The leading end of the multi-joint arm 11 is located at point P₀, sothat the inside of tank 30 may be observed by the TV camera 14. Theoperator adjusts the viewing direction of TV camera 14 by manualoperation of the joint 13₁ while watching the screen of TV monitor 22.Then, the sight is settled on a proper target spot R₀ in the TV monitorscreen which is to be approached by TV camera 14. The sight is set bythe cross-shaped cursor on the screen of the TV monitor 22.

Once the sight is set on the target spot, the operator instructs,through the input/output device 19, the CPU 96 to read a coordinatevalue of the cursor on the monitor screen from coordinate measurementdevice 98 (step S2). When the cursor is not located at the center of thescreen of TV monitor 22, such a rotation angle of the joint 13₁ iscalculated from the coordinate data of the cursor allowing the targetspot to be brought to the center of the screen of the TV monitor. Then,the joint 13₁ is rotated by the calculated angle so that the target spotR₀ is located at the center of the screen of the TV monitor (step S3).As a result, the TV camera 14 is accurately directed toward the targetspot R₀. Thus, preparation was made for measuring the distance up to thetarget spot R₀.

The range finder 15 automatically measures the distance up to the targetspot R₀ (step S4). The range finder 15 may consist of an optical orultrasonic type range finder which is used in automatic focusingcameras. The measured distance data is automatically read by the CPU 96to be displayed on the display 21.

The operator judges how far the TV camera 14 is to be moved toward thetarget spot R₀, in accordance with the measured distance and the imageon the TV monitor 22. Then, the operator specifies a distance l andenters the distance data l into the CPU 96 through the input/outputdevice 19 (step S5).

The CPU 96 calculates an equation (path equation) representing a pathalong which the multi-joint arm must advance, in accordance withinformation so far obtained and stored in a memory 99 (step S6).Referring to FIG. 6, when the start point is given as P₀, for example,an equation indicating a line connecting points P₀ and P₁ is the pathequation. When the TV camera 14 is moved from point P₁ to point P₂,toward the next target spot R₁, an equation indicating the curveconnecting points P₀, P₁ and P₂ is given as a path equation.

Once the path equation is found, such joint angles θ are calculated thatthe joints are located on the path represented by the path equation whenthe movable support 16 of the multi-joint arm 11 is moved by distance dl(step S7). The calculated values of the joint angles are stored in thememory 99. The CPU 96 instructs the motor drive circuit 97 to drive themotors, so that the movable support 16 is moved by distance dl and eachof the joint angles is set to θ (step S8). Each time the movable support16 is moved by distance dl, the CPU 96 checks, in step S9, whether ornot the movable support 16 has been moved by distance l. When it isdetermined that the movable support 16 has not moved by the distance l,steps S7 and S8 are repeated. When the movable support 16 has been movedby the distance l, the CPU 96 checks in step S10 whether or not theleading end of the multi-joint arm 11 has reached the final point on thepath. If NO, the CPU 96 requests the operator to specify the next targetspot at the input/output device 19. As a result, the operation isrepeated from step S1. Namely, the same procedures as above are repeatedin such a way that the leading end of the multi-joint arm 11 is moved topoint P₂ for the target spot R₁, and to point P₃ for the target spot R₂.In this way the leading end of the multi-joint arm 11 is guided to thefinal point P₈. After the leading end has been guided to the final pointP₈, the joint 13₁ may be manually operated to properly turn the TVcamera 14, so that point Q is located at the center of the screen of theTV monitor 22 for inspection convenience. During the guiding operationdescribed above, data on the joint angles θ of the joints calculatedeach time the movable support 16 is moved by distance dl aresuccessively stored in the memory 99.

In a case where there is a considerably large space, the leading end ofthe multi-joint arm 11 can be brought close to the target spot Q to beinspected by the above-mentioned operations. However, if there is nosufficiently large space relative to the size of the multi-joint arm, arearward portion of the multi-joint arm may be brought into contact withan obstacle and damaged. The rearward portion of the multi-joint arm isgenerally designed to be thicker than the forward portion thereof interms of its mechanical strength. For this reason, a rearward unit armmay be brought into contact with the obstacle, even if a forward unitarm or arms have avoided contact with the same obstacle.

The operation for preventing the arm from coming into contact with theobstacle will be described. As previously described, a plurality ofcontact sensors are disposed within each of the unit arms whichconstitute the multi-joint arm 11. Thus, the CPU 96 can detect whichunit arm and which side thereof are in contact with the obstacle. Whenthe contact of multi-joint arm 11 with the obstacle is detected in stepS11, after the multi-joint arm 11 has been moved by distance dl in stepS8, the obstacle avoiding operation is performed. Namely, in step S12,the CPU 96 stops all motors. The CPU 96 rotates the backward joint ofthe contacting arm in the direction opposite to the obstacle until thecontact signal disappears (step S13). At the same time, the CPU 96rotates the forward joint of the contacting arm by an amountapproximately equal to, but in a direction opposite to, the rotation ofthe backward joint (step S14). For example, as shown in FIG. 8A, whenthe unit arm 12₄ contacts the obstacle, the CPU 96 rotates the backwardjoint 13₅ of the unit arm 12₄ by an angle Δθ₁. As shown in FIG. 8B, theforward joint 13₄ is then rotated by an angle Δθ₂ which has a relationgiven below:

    Δθ.sub.1 =-kΔθ.sub.2

where k is a constant depending on a position and length of thecontacting unit arm relative to the multi-joint arm. The constant kfalls within a range of from 0.5 to 1.5.

After the forward and backward joints of the contacting arm are rotatedas described above, the CPU 96 rechecks, to determine (in step S15) ifany unit arm is in contact with the obstacle. When the obstacle avoidingoperation is completed, the CPU 96 reads the position of the movablesupport 16 and the joint angles through the encoders 92₁ to 92_(n) and95 to calculate the coordinates of each joint (step S16). The operationreturns to step S6 in which the CPU 96 calculates a path equation inaccordance with the new coordinates of the joints to effect an automaticpath correction. When the path correction is completed, the multi-jointarm is guided along the corrected path in accordance with the proceduredescribed above.

The operation mode of the multi-joint arm is a direction designationmode in which the direction in which the arm is to be moved isdesignated by the operator. In this operation mode, during the forwardmovement of multi-joint arm, the joint angles are sequentiallycalculated in accordance with the path equation and stored in the memoryeach time the movable support is moved by the unit distance dl. For thebackward movement of the multi-joint arm, the joint angles calculatedduring the forward movement are reversely read out of the memory todrive the joints.

In this embodiment, the TV camera and the range finder are used tospecify the direction and distance in and by which the leading end ofthe multi-joint arm is to move. However, a stereoscopic televisionsystem can also be used. A stereoscopic TV camera unit disposed at theleading end of the multi-joint arm and a stereoscopic TV monitor may beused to specify the direction and distance of the movement of themulti-joint arm. By using two TV cameras as a stereoscopic TV cameraunit and two TV monitors as a stereoscopic TV monitor unit, for example,the operator can watch a stereoscopic image with the aid of astereoscopic mirror.

The multi-joint arm can also be operated in the path designated moderather than in the direction designated mode. In the path designatedmode, a path along which the multi-joint arm advances is previouslydetermined. The control system of the multi-joint arm in this operationmode will be described with reference to FIGS. 9 and 10. When themulti-joint arm is controlled in this operation mode, the range finder15, the joystick 20 and the coordinate measurement device 98 of thecontrol system shown in FIG. 5 are not required.

As shown in FIG. 9, the operator draws an optimal path C on a drawing ofthe tank 30 to be inspected, divides the path C into N parts, and findsthe coordinates of the dividing points (P₀ to P_(n)) (step S20).

The operator then enters the coordinates of the dividing points into theCPU 96 through the input/output device 19 (step S21). The CPU 96calculates a path equation indicating the path C from the coordinates Pof the dividing points P₀ to P_(n) (step S22). From the path equationthe CPU 96 calculates such a joint angle θ of each joint that the joints13₁ to 13_(n) are put into the path C when the support 16 is moved bydistance dl (step S23). Once the joint angle θ is calculated, the CPU 96instructs the motor drive circuit 97 to set the actual joint angle at θ(step S24). In this case, the movable support 16 is moved by distancedl.

In step S25, the CPU 96 checks to determine if any unit arm is incontact with an obstacle. For example, as shown in FIG. 9, if an armcomes into contact with an obstacle at a portion between points P₂ andP₃, then the operator enters into CPU 96 the coordinates of points P'₂to P'₄ in place of points P₂ and P₄, in order to correct the path.Alternatively, the same operation (steps S26 and S27) as in thedirection designated mode is performed. When the CPU 96 determines thatno portion of the multi-joint arm is in contact with the obstacle, theCPU 96 reads data indicating the joint angle θ and the displacement ortravel distance of the movable support 16 and calculates the coordinatesof the joints (step S30). The CPU 96 corrects a portion of the path Calong which the multi-joint arm has been moved by using the coordinates(step S22). By repeating the operations (steps S23 and S24) to controlthe joint angle of each joint so that each joint moves on the correctedpath each time the support 16 is moved by distance dl along thecorrected path, the multi-joint arm 11 is allowed to reach the finalpoint Pn while avoiding obstacles.

To return the multi-joint arm to the original position, it is requiredthat the data obtained each time the movable support advances bydistance dl, and sequentially stored in the memory during the forwardmovement of the arm be read out from the memory in reverse order.

Another operation for preventing the arm from contacting an obstacle inthe path designated mode will be described with reference to FIG. 11.The operator specifies a plurality of auxiliary paths C' and C" inaddition to the optimal path C, and divides the auxiliary paths C' andC" to obtain the coordinates of dividing points P'₀ to P'_(n) and P"₀ toP"_(n), respectively, in the same manner as for the optimal path C. TheCPU 96 calculates a path equation from the coordinates of the dividingpoints for each of the paths and joint angles θ such that the joints areput into the corresponding path when the support 16 is moved by distancedl. The data indicating the joint angles θ for allowing proper movementof the multi-joint arm along the corresponding path are stored in thememory.

The CPU causes the multi-joint arm to move along the optimal path C, aspreviously described. If any one of the outermost pipes of the pipes 31is broken and happens to come into contact with the multi-joint arm, theCPU 96 selects an optimal path from among the auxiliary paths C', C", toavoid a contact with the obstacle. Thereafter, the selected path is usedto perform the forward and backward movement of the arm.

Still another embodiment of the present invention will be describedhereinafter. As shown in FIG. 12, a TV camera 114, a range finder 115for measuring a forward distance, and a range finder 116 (116₁ to 116₈)for measuring side distances are disposed at a leading unit arm 112₁ ofa multi-joint arm 111. Therefore, distance from the leading end of thearm to an obstacle and the distance from the side of the arm to anobstacle can be measured. In accordance with the measured distance data,the multi-joint arm is automatically moved toward a target spot to beinspected without contacting any obstacle.

A control system of this multi-joint arm is shown in FIG. 13. Thecontrol system comprises a motor drive circuit 120 for driving motors118₁ to 118_(n) arranged in the multi-joint arm 111 to rotate joints113₁ to 113_(n), and a motor 119 for moving a movable support 117; a CPU121 for controlling the motor drive circuit 120; an input/output device122 of the CPU 121; and a memory 123. The joint angle data of the joints113₁ to 113_(n) are applied to CPU 121 through encoders arranged in therespective joints. The rotation angle of the motor 119 (displacement ofthe support 117) is applied to CPU 121 through an encoder in the movablesupport 117. Distance data from the range finder 115 and the rangefinder 116 comprising the range finders 116₁ to 116₈ arranged at angularintervals of 45° are sequentially supplied to the CPU 121 through adistance measurement device 126. The image picked up by the TV camera114 is reproduced on a TV monitor 127.

Range finders 115 and 116 include ultrasonic range finders. As shown inFIG. 14, range finder 116 comprises ultrasonic elements 128₁ to 128₈which are so arranged along the periphery of the unit arm 112₁, at equalangular intervals of 45°, as to radially measure distances A₁ to A₈ upto obstacles in the eight directions on the plane normal to the axis ofarm 112₁.

The distance measurement device 126 has a configuration shown in FIG.15. The side range finders 116₁ to 116₈ and forward range finder 115have pulse oscillators 129₁ to 129₉ for applying pulses to ultrasonicelements 128₁ to 128₉ in a time-division manner. The ultrasonic elementgenerates an ultrasonic wave in response to application of a pulsethereto. The range finders 116₁ to 116₈ and 115 comprise receivers 130₁to 130₉, respectively, for receiving the ultrasonic wave reflected by anobstacle. The pulse oscillators 129₁ to 129₉ are sequentially enabled bya control circuit 131 to oscillate. A counter 132 counts clock pulses ofa predetermined period from a clock oscillator 133. The counter 132 isenabled by a start signal from the control circuit 131 to count theclock pulses, and disabled by an output signal of each of the receivers130₁ to 130₉. A frequency divider 134 divides the frequency of the clockpulse from the clock oscillator 133. An output of the divider 134 iscoupled to the control circuit 131, to determine oscillation start timeof each of the oscillators 129₁ to 129₉. A count of the counter 132which corresponds to distance up to the obstacle measured by one of therange finders 116₁ to 116₈ and 115 is loaded into a register 135.Thereafter, the counter 132 is reset. The register 135 is controlled bythe control circuit 131 to serially supply the measured data from rangefinders 116₁ to 116₈ and 115 to the CPU 121. The output of divider 134is coupled to CPU 121 to represent the measuring order of the rangefinders 116₁ to 116₈ and 115.

The operation of the multi-joint arm shown in FIG. 12 will be describedby taking an example of inspection of the inside of a bent pipe as shownin FIG. 16.

The operator guides the leading end of the arm to point P₀. In thiscase, if the manual operation mode is set, the operator can easilyposition the leading end at point P₀, while he or she observes the imagepicked up by the TV camera 114 and the obstacle profile around the armbased on the data from the side range finder 116. When the leading endis positioned at point P₀, the automatic operation mode is set. Forillustrative convenience, assume that the unit arms of the multi-jointarm are of an equal length l and that the arm is moved forward orbackward by one unit arm length during one control cycle.

As shown in FIG. 17, the distance X_(f) up to a front obstacle ismeasured in step S40. In step S41, the CPU checks to determine if thedistance X_(f) falls below a limit value. If NO in step S41, distancesX_(i) up to side obstacles are measured in step S42. It is then checkedin step S43 if the minimum value among the values measured by the eightside range finders falls below the limit value. If NO in step S43, thepresent attitude of arms (joint angles) and the side distances X_(i) arestored in the memory 123 in step S44. In step S45, the CPU 121 moves themovable support 117 and the multi-joint arm 111 by one step. Theoperation during steps S40 to 45 is repeated so long as the forwarddistance and the side distances do not fall below the limit value. As aresult, the multi-joint arm is guided to point P₁₁ at which the targetspot Q in the pipe of FIG. 16 can be inspected.

For example, when the leading end of the arm is located at point P₀ ofFIG. 16, since no front obstacle is found and the leading end of the armis located at the center of the side obstacle profile, the leading endof the arm advances by distance l to reach point P₁. At this time, thejoint 113₁ is located at point P₀. The joint angle of the joint 113₁ isstored in the memory 123. Since the condition of the front obstacle andside obstacle profile at point P₁ may be considered to be the same asthat at point P₀, the leading end of the arm can advance by distance lto reach point P'₂. At this time, joints 113₁ and 113₂ reach points P₁and P₀, respectively. If, at point P'₂, the minimum side distance to anobstacle is less than the limit value, then the joint 113₁ is rotated insuch a way that the leading end of the arm comes to point P₂ in step S46of FIG. 17. The present joint angle of the joint 113₁ at point P₁ isstored in the memory 123. Subsequently, the leading end of the armadvances to point P'₃. As a result, joints 113₁, 113₂ and 113₃ come topoints P₂, P₁ and P₀, respectively. If the condition at point P'₃ is thesame as that at point P'₂, then the leading end of the arm is moved frompoint P'₃ to point P₃. The joint angle of the joint 113₁ at point P₂ isstored in the memory 123. During the above operation, when the joint ismoved from a point to the next point, each joint is controlled to havethe joint angle which the predecessor joint has had.

The CPU checks, in step S47, to determine whether or not the leading endof the arm has reached a position from which the target spot Q can beinspected. If NO in step S47, the above control cycle is repeated untilthe leading end reaches a position from which the target spot Q can beinspected. However, if YES in step S41, the leading end arm 112₁ isturned and distances X_(f) and X_(i) are measured in step S48. In stepS49, the CPU checks to determine whether or not the leading end can beadvanced in any direction. If YES in step S49, the leading arm is turnedto the advancable direction in step S50. In step S45, the arm isadvanced by one step. If NO in step S49, a message is displayed to askfor an instruction of the operator in step S51.

In the above-mentioned operation, the joints are controlled in such away that each joint tracks a point that the predecessor joint haspassed, after a delay of one control cycle, thereby to greatly simplifythe control system.

The limit value of forward distance X_(f) is preset to be greater thanlength l. Taking into consideration the focal length of the TV camera114, it is desired that the distance X_(f) can be externally set. Thelimit value of the side distance must be externally preset since the armthickness, the length l and the scope of a space through which the armpasses must be considered.

Referring to FIG. 16, the forward movement of the leading end from pointP₇ to P'₈, and its turning movement from points P'₁₁ to P₁₁ require theoperator's judgment. However, the operator can know in advance theobject to be inspected, from the drawing thereof. In addition to this,the operator can observe the picture on the TV screen, so that anoperator's burden is very light.

In the above embodiments, the multi-joint arm is described as inspectionapparatus having a TV camera. However, it will be evident that if atorque wrench, a gripper, a magnet chuck or the like is mounted at theleading end, a simple work such as tightening of nuts or withdrawal ofloose parts will be performed.

What is claimed is:
 1. In a control system for a multi-joint arm robotapparatus including a multi-joint arm having a plurality of unit armscoupled in tandem with each other through joints, said multi-joint armhaving first motor means for controlling a joint angle of each of saidjoints, and first detecting means for detecting the joint angle of eachof said joints in accordance with the rotation angle of said first motormeans; and a movable support for supporting a proximal portion of saidmulti-joint arm, said movable support having second motor means formoving said movable support so as to move said multi-joint arm, andsecond detecting means for detecting the rotation angle of said secondmotor means;said control system comprising: first distance measuringmeans for measuring the distance to a front obstacle with respect to aleading unit arm of said multi-joint arm, and second distance measuringmeans for measuring distances to obstacles in a plurality of sidedirections; and controlling means responsive to distance data from saidfirst and second distance measuring means, for permitting saidmulti-joint arm to move to an advancable direction when there is nocontact with the obstacle, and for moving said movable support by a unitdistance to move a leading end of said multi-joint arm in the advancabledirection, and controlling the joint angle of each of said joints.
 2. Asystem according to claim 1, wherein said controlling means has storagemeans for storing data on the joint angle of a leading joint of saidjoints, each time said movable support is moved the unit distance, andcontrols said joints in such a way that the joint angle of each joint isset to the joint angle of the predecessor joint, each time said movablesupport is moved by the unit distance.